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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
#define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_

#include <base_local_planner/world_model.h>
// For obstacle data access
#include <costmap_2d/costmap_2d.h>

namespace base_local_planner {
  /**
   * @class CostmapModel
   * @brief A class that implements the WorldModel interface to provide grid
   * based collision checks for the trajectory controller using the costmap.
   */
  class CostmapModel : public WorldModel {
    public:
      /**
       * @brief  Constructor for the CostmapModel
       * @param costmap The costmap that should be used
       * @return
       */
      CostmapModel(const costmap_2d::Costmap2D& costmap);

      /**
       * @brief  Destructor for the world model
       */
      virtual ~CostmapModel(){}
      using WorldModel::footprintCost;

      /**
       * @brief  Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid
       * @param  position The position of the robot in world coordinates
       * @param  footprint The specification of the footprint of the robot in world coordinates
       * @param  inscribed_radius The radius of the inscribed circle of the robot
       * @param  circumscribed_radius The radius of the circumscribed circle of the robot
       * @return Positive if all the points lie outside the footprint, negative otherwise:
       *            -1 if footprint covers at least a lethal obstacle cell, or
       *            -2 if footprint covers at least a no-information cell, or
       *            -3 if footprint is [partially] outside of the map
       */
      virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
          double inscribed_radius, double circumscribed_radius);

      /**
       * @brief  Rasterizes a line in the costmap grid and checks for collisions
       * @param x0 The x position of the first cell in grid coordinates
       * @param y0 The y position of the first cell in grid coordinates
       * @param x1 The x position of the second cell in grid coordinates
       * @param y1 The y position of the second cell in grid coordinates
       * @return A positive cost for a legal line... negative otherwise
       */
      double lineCost(int x0, int x1, int y0, int y1) const;

      /**
       * @brief  Checks the cost of a point in the costmap
       * @param x The x position of the point in cell coordinates
       * @param y The y position of the point in cell coordinates
       * @return A positive cost for a legal point... negative otherwise
       */
      double pointCost(int x, int y) const;

    private:
      const costmap_2d::Costmap2D& costmap_; ///< @brief Allows access of costmap obstacle information

  };
};
#endif
